OpenRaiser/Intern-Atlas huggingface dataset:
Finetuning Offline World Models in the Real World
Venue: arXiv cs.LG 2023
Year: 2023

Reinforcement Learning (RL) is notoriously data-inefficient, which makes training on a real robot difficult. While model-based RL algorithms (world models) improve data-efficiency to some extent, they still require hours or days of interaction to learn skills. Recently, offline RL has been proposed as a framework for training RL policies on pre-existing datasets without any online interaction. However, constraining an algorithm to a fixed dataset induces a state-action distribution shift between training and inference, and limits its applicability to new tasks. In this work, we seek to get the best of both worlds: we consider the problem of pretraining a world model with offline data collected on a real robot, and then finetuning the model on online data collected by planning with the learned model. To mitigate extrapolation errors during online interaction, we propose to regularize the planner at test-time by balancing estimated returns and (epistemic) model uncertainty. We evaluate our method on a variety of visuo-motor control tasks in simulation and on a real robot, and find that our method enables few-shot finetuning to seen and unseen tasks even when offline data is limited. Videos, code, and data are available at https://yunhaifeng.com/FOWM .
Decentralized Learning over Wireless Networks with Broadcast-Based Subgraph Sampling
Venue: arXiv cs.LG 2023
Year: 2023

This work centers on the communication aspects of decentralized learning over wireless networks, using consensus-based decentralized stochastic gradient descent (D-SGD). Considering the actual communication cost or delay caused by in-network information exchange in an iterative process, our goal is to achieve fast convergence of the algorithm measured by improvement per transmission slot. We propose BASS, an efficient communication framework for D-SGD over wireless networks with broadcast transmission and probabilistic subgraph sampling. In each iteration, we activate multiple subsets of non-interfering nodes to broadcast model updates to their neighbors. These subsets are randomly activated over time, with probabilities reflecting their importance in network connectivity and subject to a communication cost constraint (e.g., the average number of transmission slots per iteration). During the consensus update step, only bi-directional links are effectively preserved to maintain communication symmetry. In comparison to existing link-based scheduling methods, the inherent broadcasting nature of wireless channels offers intrinsic advantages in speeding up convergence of decentralized learning by creating more communicated links with the same number of transmission slots.
Locally Differentially Private Document Generation Using Zero Shot Prompting
Venue: arXiv cs.CL 2023
Year: 2023

Numerous studies have highlighted the privacy risks associated with pretrained large language models. In contrast, our research offers a unique perspective by demonstrating that pretrained large language models can effectively contribute to privacy preservation. We propose a locally differentially private mechanism called DP-Prompt, which leverages the power of pretrained large language models and zero-shot prompting to counter author de-anonymization attacks while minimizing the impact on downstream utility. When DP-Prompt is used with a powerful language model like ChatGPT (gpt-3.5), we observe a notable reduction in the success rate of de-anonymization attacks, showing that it surpasses existing approaches by a considerable margin despite its simpler design. For instance, in the case of the IMDB dataset, DP-Prompt (with ChatGPT) perfectly recovers the clean sentiment F1 score while achieving a 46\% reduction in author identification F1 score against static attackers and a 26\% reduction against adaptive attackers. We conduct extensive experiments across six open-source large language models, ranging up to 7 billion parameters, to analyze various effects of the privacy-utility tradeoff.
Stereoscopic Depth Perception Through Foliage
Venue: arXiv cs.CV 2023
Year: 2023

Both humans and computational methods struggle to discriminate the depths of objects hidden beneath foliage. However, such discrimination becomes feasible when we combine computational optical synthetic aperture sensing with the human ability to fuse stereoscopic images. For object identification tasks, as required in search and rescue, wildlife observation, surveillance, and early wildfire detection, depth assists in differentiating true from false findings, such as people, animals, or vehicles vs. sun-heated patches at the ground level or in the tree crowns, or ground fires vs. tree trunks. We used video captured by a drone above dense woodland to test users' ability to discriminate depth. We found that this is impossible when viewing monoscopic video and relying on motion parallax. The same was true with stereoscopic video because of the occlusions caused by foliage. However, when synthetic aperture sensing was used to reduce occlusions and disparity-scaled stereoscopic video was presented, whereas computational (stereoscopic matching) methods were unsuccessful, human observers successfully discriminated depth. This shows the potential of systems which exploit the synergy between computational methods and human vision to perform tasks that neither can perform alone.
Octopus: A Multitask Model and Toolkit for Arabic Natural Language Generation
Venue: arXiv cs.CL 2023
Year: 2023

Understanding Arabic text and generating human-like responses is a challenging endeavor. While many researchers have proposed models and solutions for individual problems, there is an acute shortage of a comprehensive Arabic natural language generation toolkit that is capable of handling a wide range of tasks. In this work, we present a novel Arabic text-to-text Transformer model, namely AraT5v2. Our new model is methodically trained on extensive and diverse data, utilizing an extended sequence length of 2,048 tokens. We explore various pretraining strategies including unsupervised, supervised, and joint pertaining, under both single and multitask settings. Our models outperform competitive baselines with large margins. We take our work one step further by developing and publicly releasing Octopus, a Python-based package and command-line toolkit tailored for eight Arabic generation tasks all exploiting a single model. We release the models and the toolkit on our public repository.
Codebook-based Uplink Transmission Enhancement in 5G Advanced: Sub-band Precoding
Venue: arXiv cs.IT 2023
Year: 2023

The transformative enhancements of fifth-generation (5G) mobile devices bring about new challenges to achieve better uplink (UL) performance. Particularly, in codebook-based transmission, the wide-band (WB) precoding and the legacy UL codebook may become main bottlenecks for higher efficient data transmission. In this paper, we investigate the codebook-based UL single-layer transmission performance using fully coherent antenna ports in the context of sub-band (SB) precoding. We analyze the SB precoder selection criteria and design an UL codebook used for SB precoding by increasing the number of relative phase shifts of each port. Via link-level simulations, we verify that the UL SB precoding can improve up to 2 dB performance gain in terms of the block error rate (BLER) compared with the UL WB precoding which is the current UL precoding scheme. We also show that UL performance gain is sensitive to the SB size selection as well as the relative phase shift diversity.
A Language Model with Limited Memory Capacity Captures Interference in Human Sentence Processing
Venue: arXiv cs.CL 2023
Year: 2023

Two of the central factors believed to underpin human sentence processing difficulty are expectations and retrieval from working memory. A recent attempt to create a unified cognitive model integrating these two factors relied on the parallels between the self-attention mechanism of transformer language models and cue-based retrieval theories of working memory in human sentence processing (Ryu and Lewis 2021). While Ryu and Lewis show that attention patterns in specialized attention heads of GPT-2 are consistent with similarity-based interference, a key prediction of cue-based retrieval models, their method requires identifying syntactically specialized attention heads, and makes the cognitively implausible assumption that hundreds of memory retrieval operations take place in parallel. In the present work, we develop a recurrent neural language model with a single self-attention head, which more closely parallels the memory system assumed by cognitive theories. We show that our model's single attention head captures semantic and syntactic interference effects observed in human experiments.
Clinfo.ai: An Open-Source Retrieval-Augmented Large Language Model System for Answering Medical Questions using Scientific Literature
Venue: arXiv cs.IR 2023
Year: 2023

The quickly-expanding nature of published medical literature makes it challenging for clinicians and researchers to keep up with and summarize recent, relevant findings in a timely manner. While several closed-source summarization tools based on large language models (LLMs) now exist, rigorous and systematic evaluations of their outputs are lacking. Furthermore, there is a paucity of high-quality datasets and appropriate benchmark tasks with which to evaluate these tools. We address these issues with four contributions: we release Clinfo.ai, an open-source WebApp that answers clinical questions based on dynamically retrieved scientific literature; we specify an information retrieval and abstractive summarization task to evaluate the performance of such retrieval-augmented LLM systems; we release a dataset of 200 questions and corresponding answers derived from published systematic reviews, which we name PubMed Retrieval and Synthesis (PubMedRS-200); and report benchmark results for Clinfo.ai and other publicly available OpenQA systems on PubMedRS-200.
Learning Low-Rank Latent Spaces with Simple Deterministic Autoencoder: Theoretical and Empirical Insights
Venue: arXiv cs.LG 2023
Year: 2023

The autoencoder is an unsupervised learning paradigm that aims to create a compact latent representation of data by minimizing the reconstruction loss. However, it tends to overlook the fact that most data (images) are embedded in a lower-dimensional space, which is crucial for effective data representation. To address this limitation, we propose a novel approach called Low-Rank Autoencoder (LoRAE). In LoRAE, we incorporated a low-rank regularizer to adaptively reconstruct a low-dimensional latent space while preserving the basic objective of an autoencoder. This helps embed the data in a lower-dimensional space while preserving important information. It is a simple autoencoder extension that learns low-rank latent space. Theoretically, we establish a tighter error bound for our model. Empirically, our model's superiority shines through various tasks such as image generation and downstream classification. Both theoretical and practical outcomes highlight the importance of acquiring low-dimensional embeddings.
Attention-Based Ensemble Pooling for Time Series Forecasting
Venue: arXiv cs.LG 2023
Year: 2023

A common technique to reduce model bias in time-series forecasting is to use an ensemble of predictive models and pool their output into an ensemble forecast. In cases where each predictive model has different biases, however, it is not always clear exactly how each model forecast should be weighed during this pooling. We propose a method for pooling that performs a weighted average over candidate model forecasts, where the weights are learned by an attention-based ensemble pooling model. We test this method on two time-series forecasting problems: multi-step forecasting of the dynamics of the non-stationary Lorenz `63 equation, and one-step forecasting of the weekly incident deaths due to COVID-19. We find that while our model achieves excellent valid times when forecasting the non-stationary Lorenz `63 equation, it does not consistently perform better than the existing ensemble pooling when forecasting COVID-19 weekly incident deaths.
Pixel-Level Clustering Network for Unsupervised Image Segmentation
Venue: arXiv cs.CV 2023
Year: 2023

While image segmentation is crucial in various computer vision applications, such as autonomous driving, grasping, and robot navigation, annotating all objects at the pixel-level for training is nearly impossible. Therefore, the study of unsupervised image segmentation methods is essential. In this paper, we present a pixel-level clustering framework for segmenting images into regions without using ground truth annotations. The proposed framework includes feature embedding modules with an attention mechanism, a feature statistics computing module, image reconstruction, and superpixel segmentation to achieve accurate unsupervised segmentation. Additionally, we propose a training strategy that utilizes intra-consistency within each superpixel, inter-similarity/dissimilarity between neighboring superpixels, and structural similarity between images. To avoid potential over-segmentation caused by superpixel-based losses, we also propose a post-processing method. Furthermore, we present an extension of the proposed method for unsupervised semantic segmentation. We conducted experiments on three publicly available datasets (Berkeley segmentation dataset, PASCAL VOC 2012 dataset, and COCO-Stuff dataset) to demonstrate the effectiveness of the proposed framework. The experimental results show that the proposed framework outperforms previous state-of-the-art methods.
Speakerly: A Voice-based Writing Assistant for Text Composition
Venue: arXiv cs.CL 2023
Year: 2023

We present Speakerly, a new real-time voice-based writing assistance system that helps users with text composition across various use cases such as emails, instant messages, and notes. The user can interact with the system through instructions or dictation, and the system generates a well-formatted and coherent document. We describe the system architecture and detail how we address the various challenges while building and deploying such a system at scale. More specifically, our system uses a combination of small, task-specific models as well as pre-trained language models for fast and effective text composition while supporting a variety of input modes for better usability.
Near-Optimal Pure Exploration in Matrix Games: A Generalization of Stochastic Bandits & Dueling Bandits
Venue: arXiv cs.LG 2023
Year: 2023

We study the sample complexity of identifying the pure strategy Nash equilibrium (PSNE) in a two-player zero-sum matrix game with noise. Formally, we are given a stochastic model where any learner can sample an entry $(i,j)$ of the input matrix $A\in[-1,1]^{n\times m}$ and observe $A_{i,j}+η$ where $η$ is a zero-mean 1-sub-Gaussian noise. The aim of the learner is to identify the PSNE of $A$, whenever it exists, with high probability while taking as few samples as possible. Zhou et al. (2017) presents an instance-dependent sample complexity lower bound that depends only on the entries in the row and column in which the PSNE lies. We design a near-optimal algorithm whose sample complexity matches the lower bound, up to log factors. The problem of identifying the PSNE also generalizes the problem of pure exploration in stochastic multi-armed bandits and dueling bandits, and our result matches the optimal bounds, up to log factors, in both the settings.
rTisane: Externalizing conceptual models for data analysis increases engagement with domain knowledge and improves statistical model quality
Venue: arXiv cs.HC 2023
Year: 2023

Statistical models should accurately reflect analysts' domain knowledge about variables and their relationships. While recent tools let analysts express these assumptions and use them to produce a resulting statistical model, it remains unclear what analysts want to express and how externalization impacts statistical model quality. This paper addresses these gaps. We first conduct an exploratory study of analysts using a domain-specific language (DSL) to express conceptual models. We observe a preference for detailing how variables relate and a desire to allow, and then later resolve, ambiguity in their conceptual models. We leverage these findings to develop rTisane, a DSL for expressing conceptual models augmented with an interactive disambiguation process. In a controlled evaluation, we find that rTisane's DSL helps analysts engage more deeply with and accurately externalize their assumptions. rTisane also leads to statistical models that match analysts' assumptions, maintain analysis intent, and better fit the data.
MotionAGFormer: Enhancing 3D Human Pose Estimation with a Transformer-GCNFormer Network
Venue: arXiv cs.CV 2023
Year: 2023

Recent transformer-based approaches have demonstrated excellent performance in 3D human pose estimation. However, they have a holistic view and by encoding global relationships between all the joints, they do not capture the local dependencies precisely. In this paper, we present a novel Attention-GCNFormer (AGFormer) block that divides the number of channels by using two parallel transformer and GCNFormer streams. Our proposed GCNFormer module exploits the local relationship between adjacent joints, outputting a new representation that is complementary to the transformer output. By fusing these two representation in an adaptive way, AGFormer exhibits the ability to better learn the underlying 3D structure. By stacking multiple AGFormer blocks, we propose MotionAGFormer in four different variants, which can be chosen based on the speed-accuracy trade-off. We evaluate our model on two popular benchmark datasets: Human3.6M and MPI-INF-3DHP. MotionAGFormer-B achieves state-of-the-art results, with P1 errors of 38.4mm and 16.2mm, respectively. Remarkably, it uses a quarter of the parameters and is three times more computationally efficient than the previous leading model on Human3.6M dataset. Code and models are available at https://github.com/TaatiTeam/MotionAGFormer.
Crowd-Certain: Label Aggregation in Crowdsourced and Ensemble Learning Classification
Venue: arXiv cs.LG 2023
Year: 2023

Crowdsourcing systems have been used to accumulate massive amounts of labeled data for applications such as computer vision and natural language processing. However, because crowdsourced labeling is inherently dynamic and uncertain, developing a technique that can work in most situations is extremely challenging. In this paper, we introduce Crowd-Certain, a novel approach for label aggregation in crowdsourced and ensemble learning classification tasks that offers improved performance and computational efficiency for different numbers of annotators and a variety of datasets. The proposed method uses the consistency of the annotators versus a trained classifier to determine a reliability score for each annotator. Furthermore, Crowd-Certain leverages predicted probabilities, enabling the reuse of trained classifiers on future sample data, thereby eliminating the need for recurrent simulation processes inherent in existing methods. We extensively evaluated our approach against ten existing techniques across ten different datasets, each labeled by varying numbers of annotators. The findings demonstrate that Crowd-Certain outperforms the existing methods (Tao, Sheng, KOS, MACE, MajorityVote, MMSR, Wawa, Zero-Based Skill, GLAD, and Dawid Skene), in nearly all scenarios, delivering higher average accuracy, F1 scores, and AUC rates. Additionally, we introduce a variation of two existing confidence score measurement techniques. Finally we evaluate these two confidence score techniques using two evaluation metrics: Expected Calibration Error (ECE) and Brier Score Loss. Our results show that Crowd-Certain achieves higher Brier Score, and lower ECE across the majority of the examined datasets, suggesting better calibrated results.
Imperfect Digital Twin Assisted Low Cost Reinforcement Training for Multi-UAV Networks
Venue: arXiv cs.LG 2023
Year: 2023

Deep Reinforcement Learning (DRL) is widely used to optimize the performance of multi-UAV networks. However, the training of DRL relies on the frequent interactions between the UAVs and the environment, which consumes lots of energy due to the flying and communication of UAVs in practical experiments. Inspired by the growing digital twin (DT) technology, which can simulate the performance of algorithms in the digital space constructed by coping features of the physical space, the DT is introduced to reduce the costs of practical training, e.g., energy and hardware purchases. Different from previous DT-assisted works with an assumption of perfect reflecting real physics by virtual digital, we consider an imperfect DT model with deviations for assisting the training of multi-UAV networks. Remarkably, to trade off the training cost, DT construction cost, and the impact of deviations of DT on training, the natural and virtually generated UAV mixing deployment method is proposed. Two cascade neural networks (NN) are used to optimize the joint number of virtually generated UAVs, the DT construction cost, and the performance of multi-UAV networks. These two NNs are trained by unsupervised and reinforcement learning, both low-cost label-free training methods. Simulation results show the training cost can significantly decrease while guaranteeing the training performance. This implies that an efficient decision can be made with imperfect DTs in multi-UAV networks.
RAMPART: RowHammer Mitigation and Repair for Server Memory Systems
Venue: arXiv cs.AR 2023
Year: 2023

RowHammer attacks are a growing security and reliability concern for DRAMs and computer systems as they can induce many bit errors that overwhelm error detection and correction capabilities. System-level solutions are needed as process technology and circuit improvements alone are unlikely to provide complete protection against RowHammer attacks in the future. This paper introduces RAMPART, a novel approach to mitigating RowHammer attacks and improving server memory system reliability by remapping addresses in each DRAM in a way that confines RowHammer bit flips to a single device for any victim row address. When RAMPART is paired with Single Device Data Correction (SDDC) and patrol scrub, error detection and correction methods in use today, the system can detect and correct bit flips from a successful attack, allowing the memory system to heal itself. RAMPART is compatible with DDR5 RowHammer mitigation features, as well as a wide variety of algorithmic and probabilistic tracking methods. We also introduce BRC-VL, a variation of DDR5 Bounded Refresh Configuration (BRC) that improves system performance by reducing mitigation overhead and show that it works well with probabilistic sampling methods to combat traditional and victim-focused mitigation attacks like Half-Double. The combination of RAMPART, SDDC, and scrubbing enables stronger RowHammer resistance by correcting bit flips from one successful attack. Uncorrectable errors are much less likely, requiring two successful attacks before the memory system is scrubbed.